Control for passive wiper system

ABSTRACT

A system includes a dome, a wiper assembly, a position sensor and a control device. The wiper assembly includes a wiper blade configured to rotate around the dome. The position sensor may be configured to send a signal to a control device when a wiper blade passes the position sensor. The control device may include one or more processors configured to receive the signal from the position sensor and determine a location of the wiper blade relative to the dome based on the received signal.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation, of U.S. patent applicationSer. No. 14/529,920, filed Oct. 31, 2014, which is related to U.S.application Ser. No. 14/529,482, entitled Passive Wiper System, whichwas also filed on Oct. 31, 2014, the disclosure of which is herebyincorporated herein by reference.

BACKGROUND

Autonomous vehicles, such as vehicles that do not require a humandriver, can be used to aid in the transport of passengers or items fromone location to another. Such vehicles may operate in a fully autonomousmode where passengers may provide some initial input, such as adestination, and the vehicle maneuvers itself to that destination. Thus,such vehicles may be largely dependent on systems that are capable ofdetermining the location of the autonomous vehicle at any given time, aswell as detecting and identifying objects external to the vehicle, suchas other vehicles, stop lights, pedestrians, etc. As an example, thesesystems may include sensors, such as laser scanning equipment andcameras, mounted at various locations on the vehicle.

In some instances, various optical deterrents, such as dust, dirt, anddebris, can accumulate on the surface of housings for such sensors.These deterrents may occlude the sensors, can reduce the accuracy andreliability of information generated by the sensors. This, in turn, mayimpact the safe maneuvering of such vehicles.

BRIEF SUMMARY

Aspects of the disclosure are directed to a system. The system mayinclude a dome, a wiper assembly, a position sensor, and a controldevice. The wiper assembly includes a wiper blade that is configured torotate around the dome. The position sensor may be configured to send asignal to a control device when a wiper blade passes the positionsensor. The control device includes one or more processors that areconfigured to receive the signal from the position sensor; and determinea location of the wiper blade relative to the dome based on the receivedsignal.

In one example of this aspect, the position sensor is a hall sensor thatcan detect the presence of a magnet coupled to the wiper assembly. Inanother example, the wiper blade rotates 360 degrees around the dome. Inanother example, the dome houses at least one of a camera and laserscanning equipment. In another example, a plurality of spray nozzles arearranged around a circumference of the dome. The one or more processorsmay be further configured to determine when the wiper blade will be at apredetermined position relative to the dome; and cause fluid to dispensethrough each of the spray nozzles when the wiper blade is at thepredetermined position relative to the dome. Alternatively, the one ormore processors may be further configured to determine a speed ofrotation around the dome of the wiper blade; and use the speed ofrotation to determine the location of the wiper blade.

In another example of this aspect, the control system may furtherinstruct a fluid dispensing assembly to dispense a fluid onto thesurface of the dome based upon the position of the at least one wiperblade. In another example, a drive motor is coupled to the wiperassembly. The drive motor can further include at least one additionalposition sensor. The one or more processors may be further configured toreceive a second signal from the at least one additional position sensorindicating a position of the motor relative to the wiper blade; anddetermine the location of the wiper blade relative to the dome based onboth the received signal and the second signal.

Other aspects of the disclosure are directed to a computer implementedmethod. The method includes determining the position of a wiper blade asthe wiper blade rotates around a base of a dome, the method comprising:receiving, by one or more processors, a signal from a position sensorindicating detection of the wiper blade at a first position relative tothe dome; accessing information, by the one or more processors, about aspeed of the wiper blade as the wiper blade rotates around the base ofthe dome; and determining, by the one or more processors, a secondposition of the wiper blade relative to the dome based upon the speed.

In one example, the signal is a first signal and the method furtherincludes receiving, by the one or more processors, a second signal froma second position sensor indicating a position of a drive motor relativeto the wiper blade; and determining, by the control system, the secondposition of the wiper blade based upon the second signal and the speedof the wiper blade. In another example, the method further includesaccessing information, by the one or more processors, about a positionof a spray nozzle relative to the dome; accessing information, by theone or more processors, about a pre-determined position of the wiperblade relative to the spray nozzle; and determining, by the one or moreprocessors, when the wiper blade is at the predetermined position basedupon the position of the spray nozzle relative to a current position ofthe wiper blade.

In another example of this aspect, the one or more processors controlthe speed of the wiper blade. In another example, the method furtherincludes activating, by the one or more processors, a fluid dispensingsystem, including a spray nozzle; and causing, by the one or moreprocessors, fluid to be dispensed through the spray nozzle when thewiper blade is at the pre-determined position. Alternatively, the spraynozzle is a plurality of spray nozzles, including a first spray nozzleand a second spray nozzle. The method further includes accessinginformation about a first pre-determined position of the wiper bladerelative to the first spray nozzle and a second pre-determined positionof the wiper blade relative to the second spray nozzle; causing, by theone or more processors, the wiper fluid to be dispensed through thefirst spray nozzle when the wiper blade is at the first pre-determinedposition; and causing, by the one or more processors, the wiper fluid tobe dispensed through the second spray nozzle when the wiper blade is atthe second pre-determined position.

Additional aspects of the disclosure are directed to a computerimplemented method. The method controls movement of a wiper bladeassembly that is configured to move 360 degrees about a dome surface.The method includes receiving, by one or more processors, a signalindicating that optical deterrents are present on the dome surface; andcausing, by the one or more processors, the wiper blade assembly to movein a first direction around the dome surface so as to deploy the wiperblade.

In one example, the method further includes causing, by the one or moreprocessors, the wiper blade assembly to move in a second directionopposite the first direction so as to stow the wiper. Alternatively, thefirst direction is a clockwise direction and the second direction is acounterclockwise direction. In another example, the method furtherincludes adjusting, by the control system, a speed that the wiper bladeassembly rotates about the dome surface. In another example, the signalis a first signal and the method further includes receiving, by the oneor more processors, a second signal indicating that optical deterrentsare cleared from the dome surface; and causing, by the one or moreprocessors, the rotating assembly to move in a second direction oppositethe first direction. In another example, the step of activating furtherincludes rotating the drive motor in a third direction that is the sameas the first direction.

Additional aspects of the disclosure provide a wiper system for clearinga surface of a dome. The system includes a plurality of wiper bladesthat are configured to move around a circumference of the dome, suchthat rotation of the wiper blades in a first direction around thecircumference of the dome deploys the wiper blades into an actuatedposition. Rotation of the wiper blades in a second direction oppositethe first direction stows the wiper blades into a collapsed position.

In one example of this aspect, the system further includes one or morespray nozzles adjacent a base of the dome. The spray nozzles areconfigured to emit wiper fluid on the dome. In another example, thefirst direction the wiper blades rotate is a clockwise direction and thesecond direction is a counter-clockwise direction.

In another example, the system further includes a bearing ring thatextends around the circumference of the dome and that is fixed relativeto the dome. A top plate may be configured to rotate about the bearingring and the plurality of wiper blades may be coupled to the top plate.Alternatively, the bearing ring can further include a pivotable ramp andthe wiper blades may be configured to move along a top surface of thepivotable ramp when the wiper blades rotate in the first direction. Whenthe wiper blades rotate in the second direction, the wiper blades areconfigured to move along a bottom surface of the pivotable ramp. Inanother example, the bearing ring may also further include a recess. Inanother example, at least a portion of the pivotable ramp may bepositioned within the recess and at least a portion of the top surfaceof the pivotable ramp may be positioned outside of the recess.

In yet another example, the bearing ring may further include a topsurface and a bottom surface. The top surface of the ramp includes afirst slope that extends away from the top surface of the bearing ring.The bottom surface of the ramp includes a second slope that extends awayfrom the top surface of the bearing ring. The second slope may begreater than the first slope. In another example, the wiper blades areconfigured to extend across a top surface of the top plate when thewiper blades are in the collapsed position. A length of the wiper blademay extend along a height of the dome when the wiper blades are in theactuated position.

In accordance with another aspect of the present disclosure, a systemfor clearing a 360 degree curved surface is disclosed. The systemincludes a rotating assembly extending around a base of the 360 degreecurved surface and at least one wiper blade assembly. The at least onewiper blade assembly includes a wiper blade that has a blade basecoupled to the rotating assembly. The rotating assembly may beconfigured to move the at least one wiper blade assembly around the baseof the curved surface while the wiper blade extends away from therotating assembly and along a sidewall of the 360 degree curved surface.

In another example of this aspect, the 360 degree surface includes adome-shape. In another example of this aspect, the base of the wiperblade may further move around an outer perimeter of the curved surface.The wiper blade may also move between an actuated position and a stowedposition. The actuated position is at a first angle relative to therotating assembly and the second position is at a second angle relativeto the rotating assembly, the first angle being greater than the secondangle. In another example, the system further includes a drive motor,and the rotating assembly further includes a top plate and a ring gearcoupled to the drive motor. The drive motor may be configured to movethe ring gear and the top plate about the base. The wiper blade assemblycan further include a base mount attached to the top plate and the wiperblade may be coupled to the base mount. In another example of thisaspect, the rotating assembly is configured to move the base mount 360degrees around the base of the curved surface. The system may furtherinclude a vehicle and the curved surface may be positioned on anexterior portion of the vehicle.

In accordance with another aspect of the present disclosure, a method ofclearing a 360 degree surface includes rotating a wiper blade assemblyin a first direction around the 360 degree surface; moving a wiper bladeassembly along a first ramped surface from a lowered position to anupright position; and rotating the wiper blade assembly around the 360degree surface while the wiper blade is in the upright position.

In another example, the method further includes rotating the wiper bladeassembly in a second direction along a second ramped surface to move thewiper blade assembly from the upright position to the lowered position.In another example, the method further includes spraying wiper fluid onthe 360 degree surface while the rotating wiper blade assembly moves inthe first direction.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an example wiper assembly positioned ona vehicle according to aspects of the disclosure.

FIG. 2 is an enlarged portion of FIG. 1.

FIG. 3 is a side plan view of an example pivoting connector of theexample wiper assembly according to aspects of the disclosure.

FIG. 4 is a perspective view of the example wiper assembly with portionsof the vehicle removed to expose additional components of the wiperassembly according to aspects of the disclosure.

FIG. 5 is a perspective view of a rotating assembly according to aspectsof the disclosure.

FIG. 6 is a perspective view of a ramp of the rotating assemblyaccording to aspects of the disclosure.

FIG. 7 is a side plan view of the component of FIG. 6.

FIG. 8 is an enlarged view of a portion of FIG. 4.

FIG. 9 is a perspective view of the wiper assembly in an actuatedposition according to aspects of the disclosure.

FIG. 10 is an example external view of a vehicle according to aspects ofthe disclosure.

FIG. 11 is an example control system of a vehicle according to aspectsof the disclosure.

FIG. 12 is an example flow diagram in accordance with aspects of thedisclosure.

FIG. 13 is another example flow diagram in accordance with aspects ofthe disclosure.

FIG. 14 is a further example flow diagram in accordance with aspects ofthe disclosure.

DETAILED DESCRIPTION

The present disclosure is directed to a passive wiper system capable ofcleaning a surface in the shape of a dome that is positioned on avehicle. The dome may be used to house cameras and laser scanningequipment that communicate with other systems in the vehicle. As notedabove, the accumulation of optical deterrents, such as dust, dirt, anddebris, found on the surface of the dome can occlude cameras andattenuate the laser scanning equipment. To address this, a wiper systemcan continuously clear optical deterrents. The wiper system maypassively deploy itself when optical deterrents are detected on the domeouter surface and passively stow itself when the surface of the dome isdetermined to be sufficiently cleared. In addition, cleaning and/orlubrication fluid can also be automatically sprayed by the example wipersystem onto the surface of the dome to assist with the removal process.In this regard, a control system that communicates with the wiper systemcan detect wiper position, control wiper speed, solenoid timing, andpump actuation for emission of the fluid.

The wiper system may include a rotating assembly arranged around thedome that includes wiper blade assemblies driven by a drive motor. Forexample, the rotating assembly may include a bearing ring, as well as aring gear joined to a top plate. The ring gear and top plate can rotatea full 360° on a series of cam bearings about the bearing ring and domesurface. The rotating assembly can be attached to the drive motor via afiber reinforced rubber timing belt. In one example, a rubber timingbelt is attached to the ring gear so that movement of the drive motorcauses movement of both the ring gear and the top plate. Wiper blades ofthe wiper blade assemblies may be positioned on the top plate and movedabout the dome as the top plate rotates about the dome. A movable rampon the bearing ring can both deploy the wiper blades into an uprightposition, as well as stow the wiper blades into a collapsed position.

Equally spaced wiper blade assemblies are positioned at opposed sides ofthe dome. Each wiper blade assembly can include a wiper blade coupled toa base mount. A pivoting connector joins the wiper blades to the basemount. In one example, one end of the pivoting connector is pivotablyattached to the base mount and a second end of the pivoting connector isattached to the wiper blade.

As noted above, the wiper blades may move between a stowed position andan actuated position. In the stowed position, the wiper blades may bepositioned adjacent the base of the dome and extend in a generallyhorizontal direction across the top plate. The wiper system can deploythe wiper blades into the actuated position when the top plate isrotated in a first direction relative to the bearing ring and stow theblades when the top plate rotates in opposite second direction oppositeof the first direction. In the actuated position, the blades may becapable of moving around the dome and can remain in the actuatedposition as the blades rotate about the dome.

The wiper system may also include a fluid dispensing system. The fluiddispensing system may operate in tandem with the wiper assemblies toclear optical deterrents from the surface of the dome. For example,sprays of cleaning and/or lubricating fluid can be automaticallydispensed from the nozzles as the wiper blades spin around the dome. Inone example, the sprays can be timed to emit fluid each time the wiperblade passes a spray nozzle.

The wiper system may also include a control system that tracks theposition of the wiper blades and transmits this information to thevehicle, triggers the emission of wiper fluid, and cause actuation ordeployment of the wiper blades when optical deterrents are present onthe dome. The control system may include one or more processors whichprocess information in order to control aspects of the wiper system asdiscussed below.

I. Structure of the Wiper System

As noted above, an example wiper system may include wiper bladeassemblies positioned around a dome that is positioned on the roof of avehicle. A rotating assembly moves wiper blades of the wiper bladeassemblies between a stowed position and an actuated position. In thestowed position, the wiper blades may be positioned adjacent the base ofthe dome and extend in a generally horizontal direction across the baseof the dome. In the actuated position, the wiper blades may bepositioned in a generally vertically direction relative to the base ofthe dome. The wiper blades can be deployed into the actuated positionwhen the wiper blade assemblies are rotated in a first direction aroundthe dome and stow the blades when the wiper blade assemblies are rotatedin a second direction opposite the first direction.

An example wiper system 100 is shown in FIG. 1. Wiper system 100 may beused to clear optical deterrents that may appear on a surface 106 of adome 102 positioned adjacent the top or roof 104 of a vehicle assembly.Dome 102 may include a planar bottom surface and may be comprised of atransparent material or an opaque material. Similarly, the dome itselfmay be comprised of any desired material and further coated with anothermaterial that ranges between being opaque and transparent. Cameras,laser scanning equipment, and the like may be housed within dome 102 toobtain information about the absolute or relative position of thevehicle assembly on a map or on the earth, as well as the location ofobjects external to the vehicle, such as other vehicles, obstacles inthe roadway, traffic signals, trees, etc.

The wiper system may include one or more wiper blade assembliespositioned around the dome. As shown in FIG. 1, two equally spaced wiperblade assemblies 110A,110B are positioned at opposed sides of dome 102.An enlarged view of wiper blade assembly 110A (which may be the same orsubstantially similar to wiper blade assembly 110B) is shown in FIG. 2.Wiper blade assembly 110A includes a first wiper blade 112A coupled tobase mount 114.

The first wiper blade 112A includes an intermediate wiper arm 116 thatis pivotably coupled to a pivoting connector 118. Pivoting connector 118has a first end 120 joined to intermediate wiper arm 116 and a secondend 122 pivotably connected to base mount 114. For ease of discussion,reference will only be made to wiper blade assembly 110A, but it is tobe understood that the discussion of wiper blade assembly 110A isequally applicable to wiper blade assembly 110B, which includes a secondwiper blade 112B.

A base mount 114 of wiper blade assembly 110A forms the base of wiperblade assembly 110A and secures the components of wiper blade assembly110A to the vehicle assembly. In the example of FIG. 2, base mount 114is u-shaped and attached to top plate 128. Base mount 114 supports theremainder of the components of wiper blade assembly 110A, includingpivoting connector 118 and first wiper blade 112A. Pivoting connector118 is secured to base mount 114 by a screw or pin 130 that extendsthrough both base mount 114 and pivoting connector 118.

Pivoting connector 118 of wiper blade assembly 110A is shown in greaterdetail in FIG. 3. In this example, first end 120 of pivoting connector118 includes first and second arm extensions 124,126 that are spacedapart from one another. The height H1 between first and second armextensions 124,126 should be sufficiently large enough to receive theintermediate arm of the wiper blade. Openings 132,134 extend throughfirst and second arm extensions 124,126. A pin or screw 136 (FIG. 2) canextend through openings 132,134, as well as the intermediate arm offirst wiper blade 112A to secure first wiper blade 112A to pivotingconnector 118, which in turn secures the intermediate arm and firstwiper blade 112A to base mount 114.

First and second wiper blades 112A,112B may be provided on the wiperblade assembly to physically clear optical deterrents from the domesurface. For example, the first and second wiper blades 112A,112B may becomprised of flexible rubber or plastic and be configured to applysufficient amount of pressure to surface 106 of dome 102 to clearoptical deterrents from the surface 106. Spring 107 (FIG. 2) on pivotingconnector 118 may be used to provide the force necessary to keep firstand second wiper blades 112A,112B positioned adjacent the dome surface.

The wiper system may further include a rotating assembly to move thewiper blade assemblies about the dome. An example rotating assembly 138is shown in FIG. 4. FIG. 4 is a view of the top of a vehicle withportions of the roof of the vehicle removed. Rotating assembly 138 ispositioned around the periphery of base 103 of dome 102. Rotatingassembly 138 may include a bearing ring 140 attached to base plate 141,as well as a ring gear (not shown) joined to top plate 128. Wiper bladeassemblies 110A,110B are mounted to top plate 128 and move with topplate 128 about dome 102. Bearing ring 140 and base plate 141 mayprovide a base or foundation for rotating assembly 138.

Bearing ring 140 may be positioned about dome 102. For example, bearingring 140 may be a fixed ring positioned directly adjacent dome 102.Turning to FIG. 5, which is a view of rotating assembly 138 with wiperblade assemblies 110A,110B thereon, bearing ring 140 is depicted as acircular ring. The bearing ring 140 may be comprised of a rigid metal,such as aluminum, steel, alloy, or the like, or a plastic material, suchas a polymer, or the like. Bearing ring 140 includes top surface 142 andbottom surface 144. As shown, cam bearings 146, recesses 148, and ramps150 are positioned around the circumference of bearing ring 140.

In the example of FIG. 5, three recesses 148 are equally spaced aroundthe circumference of bearing ring 140. Each recess 148 is tiered suchthat a first surface 152 of recess 148 is closer to a top surface 142 ofbearing ring 140 and second surface 154 of recess 148 is closer tobottom surface 144 of bearing ring 140.

Ramps 150 may be secured to bearing ring 140. In one example, threeidentical ramps 150 are pivotally attached to bearing ring 140 by ascrew or pin 155 or the like. FIG. 6 includes a detailed view of anexample ramp 150. Ramp 150 is an elongated member that includes a slopedtop surface 156. Sloped top surface 156 has a positive incline thatgradually increases from front edge 162 of ramp 150 in a directiontoward rear edge 164 of ramp 150.

The bottom surface of ramp 150 is divided into two primary sections bypivot point P, the point at which ramp 150 is attached to bearing ring140: front bottom surface 158 and rear bottom surface 160. Front bottomsurface 158 includes the surface extending between front edge 162 andintermediate rear edge 182 formed by pivot point P. Front bottom surface158 is positioned toward front edge 162 of ramp 150 and underlies slopedtop surface 156. Front bottom surface 158 is generally planar. Rearbottom surface 160 is positioned toward the rear of ramp 150. Rearbottom surface 160 includes the surface extending between pivot point Pand rear edge 164 of ramp 150. Rear bottom surface 160 has a negativeincline from rear edge 164 to pivot point P.

The sloped top surfaces 156 of ramps 150 need not extend all the way torear edge 164. For example, a portion of sloped top surface 156 does notextend all the way to rear edge 164 and instead terminates at point 186.An intermediate rear edge 182 is formed at point 186. Intermediate rearedge 182 is spaced away from rear edge 164 such that sloped top surface156 includes a width W1 that is wider than a width W2 at rear edge 164.An intermediate edge surface 188 is also formed on the surface oppositesloped top surface 156. With reference now to FIG. 7, intermediate edgesurface 188 extends from intermediate rear edge 182 to a point 190 alongrear bottom surface 160. In this example, intermediate edge surface 188has an angle Ø1 relative to rear bottom surface 160 that is greater thanan angle Ø2 relative to rear bottom surface 160.

Ramps 150 are positioned within recesses 148. For example, withreference back to FIG. 5, ramps 150 may be pivotally attached to bearingring 140 and movable within each of the respective recesses 148. Asshown, rear bottom surface 160 of ramps 150 can be positioned entirelywithin recess 148. The portion of rear bottom surface 160 positionednear rear edge 164 is adjacent first surface 152 of recess 148 and theportion of rear bottom surface 160 positioned closer to pivot point P isadjacent second surface 154 of recess 148. When ramps 150 are pivotedforward, each front edge 162 and front bottom surface 158 of ramps 150are adjacent top surface 142 of bearing ring 140. In this position, rearedges 164 of ramps 150 extend slightly above top surface 142 of bearingring 140.

Rotating assembly 138 may further include a ring gear 192 and anoverlying top plate 128. As shown in FIG. 5, ring gear 192 is a roundstructure that is positioned adjacent bearing ring 140. Ring gear 192includes an interior opening that is large enough to receive bothbearing ring 140 and the dome (not shown). Ring gear 192 includes teeth194 that extend around the circumference of ring gear 192. Top plate 128overlies ring gear 192 and is positioned adjacent bearing ring 140. Inthis example, ramps 150 and top surface 142 of bearing ring 140 extendabove top surface 129 of top plate 128. Top plate 128 also includes alip 131 that extends downward and away from top surface 129 of top plate128.

Top plate 128 and ring gear 192 can rotate 360° about bearing ring 140and dome 102. In one example, a drive motor 196 may be used to rotatering gear 192 and attached top plate 128 360° on a series of cambearings 146 positioned around bearing ring 140. As shown in FIG. 8,axle 144A of drive motor 196 is coupled to ring gear 192 via a timingbelt 198, such as a fiber reinforced rubber timing belt. Movement orrotation of axle 144A causes movement of both ring gear 192 and topplate 128 about dome 102 and bearing ring 140. This movement also causesmovement of wiper blade assemblies 110A,110B, which are coupled to topplate 128.

As noted above, first and second wiper blades 112A,112B may move betweena stowed position and an actuated position. In the stowed position,wiper blades 112A,112B may be positioned adjacent base 103 of dome 102and extend in a generally horizontal direction across top plate 128.Wiper blades 112A,112B can be moved to an actuated position where thewiper blades 112A,112B are positioned in a more upright position, suchas shown in FIG. 9. In the upright position, first wiper blade 112A andsecond wiper blade 112B (not shown in FIG. 9) can be positioned at anangle Ø3 relative to top plate 129, such as 90°. In other examples, Ø3may range anywhere from 5°-90°. In this example, a central axis Aextends through dome 102 and in a direction perpendicular to the planarbottom surface (not shown) of dome 102 and vehicle surface. In theactuated position, wiper blade assembly 110A,110B are capable of moving360° around base 103 of dome 102 and central axis A. In this embodiment,first and second wiper blades 112A,112B can remain in the actuatedposition as first and second wiper blades 112A,112B rotate about thedome 102. Friction between wiper blades 112A,112B and outer surface 106of dome 102 keeps the wiper blades in an actuated position until it isdesired to stow wiper blades 112A,112B. It is to be appreciated that thecontinuous movement of the first and second wiper blades 112A,112B inthe actuated position around the dome differs from the movement ofconventional wiper blades assemblies. To clear surfaces, suchconventional wiper blade assemblies include wiper blades that move incontinuous arc-like paths between a lowered position and an uprightposition.

Wiper system 100 can deploy wiper blades 112A,112B into the actuatedposition when top plate 128 is rotated in a first direction relative tothe bearing ring 140. For example, when top plate 128 of wiper system100 is moved in a counterclockwise direction by drive motor 196 relativeto bearing ring 140, wiper blades 112A,112B can be moved from the stowedposition to the actuated position.

Referring to FIG. 5, posts, such as post 172, extend from each wiperblade assembly 110A,110B and allow the wiper blades to move into theactuated position. In this view, post 172 of wiper blade assembly 110Bis visible and shown extending from wiper blade assembly 110B. Post 172may be attached to pivoting connector 118. When top plate 128 is movedrelative to bearing ring 140, post 172 contacts the sloped top surface156 of ramp 150 positioned on bearing ring 140. As post 172 passes overthe rise of sloped top surface 156, post 172 and pivoting connector 118are pushed upward so that wiper blades 112A,112B are moved into theactuated or upright position. Referring to wiper blade assembly 110B,pivoting connector 118 rotates about pin 130 so that pivoting connector118 can be moved into an upright position. In this example, tab 119 onpivoting connector 118 can contact top surface 115 of base mount 114 inorder to help keep wiper blades 112A,112B in an upright position and toprevent pivoting connector 118 from over rotating.

The posts, such as post 172, may also allow the wiper blades to moveinto the stowed position. For example, the wiper system may stow firstand second wiper blades 112A,112B when top plate 128 rotates in adirection opposite the direction required to move first and second wiperblades 112A,112B into the actuated position. For example, rotation ofwiper blade assemblies 110A,110B in the clockwise direction moves post172 into contact with intermediate lower surface 188 of ramp 150. Thismovement causes ramp 150 to pivot slightly forward to expose at least aportion of rear bottom surface 160 of ramp 150. Further movement of topplate 128 in a clockwise direction causes post 172 to travel along thedecreasing slope of intermediate edge surface 188. Post 172 is thenpushed downward, causing the wiper blades 112A,112B to be lowered intothe stowed position.

II. Fluid Dispensing System

Wiper system 100 may communicate with a fluid dispensing system. Forexample, with reference back to FIGS. 1 and 4, a fluid dispensing system174 (shown in FIG. 4) may include spray nozzles 108A,108B,108C. Thespray nozzles may be positioned around dome 102 to spray wiper fluid,such as cleaning and/or lubricating fluid, onto surface 106 of the dome102. In this regard, the fluid dispensing system can automaticallydispense wiper fluids through spray nozzles 108A,108B,108C as wiperblades 112A,112B spin around the dome 102.

In one example, fluid dispensing system 174 includes a fluid reservoir(not shown), solenoid valves 176, a pump 178, and separate fluid lines180 connected to three nozzles 108A,108B,108C. Nozzles 108A,108B,108Cspray surface 106 of dome 102 with wiper fluid, such ascleaning/lubricant fluid. As shown, each fluid line 180 feeds intorespective nozzles 108A,108B,108C. Nozzles 108,108B,108C may be equallyspaced around dome 102, such that the three nozzles 108A,108B,108C arespaced approximately 120° away from one another relative to dome 102.

Wiper system 100 can be used with any type of vehicle assembly. Whilecertain aspects of the disclosure are particularly useful in connectionwith specific types of vehicles, the vehicle assembly may be any type ofvehicle assembly including, but not limited to, cars, trucks,motorcycles, busses, recreational vehicles, etc. Turning now to FIG. 10,there is shown an example vehicle assembly 200 onto which wiper system100 is positioned. As can be seen, vehicle assembly 200 includes manyfeatures of a typical vehicle such as headlights 202, windshield 203,taillights/turn signal lights, rear windshield 204, doors 206, side viewmirrors 208, tires and wheels 210, and turn signal/parking lights 212.In this example, vehicle assembly 200 is an autonomous vehicle, such asa vehicle that does not require a human driver and can be used to aid inthe transport of passengers or items from one location to another. Suchvehicle may operate in a fully autonomous mode where passengers mayprovide some initial input, such as a destination, and the vehiclemaneuvers itself to that destination. In other examples, vehicleassembly 200 may require a human driver.

Vehicle assembly 200 also includes housing 214, which may be in theshape of a dome. Housing 214 may include a planar bottom surface that ispositioned on top of vehicle assembly 200. One or more laser deviceshaving 360° or narrower fields of view and/or one or more camera devicesmay be positioned within dome 102. In addition or alternatively, housing214 may include, for example, one or more radar and/or sonar devices.Each of the radar, camera, and laser devices may be associated withprocessing components which process data from these devices and providesensor data to other systems in vehicle assembly 200, including thecontrol system, which will be discussed in more detail herein. Examplesof such data may include whether portions of the housing 214 isoccluded.

III. Control System For Wiper System & Fluid Dispensing System

The wiper system may also include a control system that controlsactuation or deployment of the wiper blades; tracks the position of thewiper blades and transmits this information to the vehicle, triggers theemission of wiper fluid. The control system may include one or moreprocessors which process information in order to control aspects of thewiper system as discussed below.

FIG. 11 illustrates an example 300 of a computing device or controlsystem for a vehicle assembly in which the features described above maybe implemented. The computing device may contain one or more processors,memory, and other components generally found in general purposecomputing devices.

As shown in FIG. 11, a vehicle assembly 300 in accordance with oneaspect of the disclosure may have one or more computing devices, such asvehicle computing device 310 containing one or more processors 320,memory 330 and other components typically present in general purposecomputing devices.

The memory 330 stores information accessible by the one or moreprocessors 320, including data 332 and instructions 235 that may beexecuted or otherwise used by the processor 320. The memory 330 may beof any type capable of storing information accessible by the processor,including a computing device-readable medium, or other medium thatstores data that may be read with the aid of an electronic device, suchas a hard-drive, memory card, ROM, RAM, DVD or other optical disks, aswell as other write-capable and read-only memories. Systems and methodsmay include different combinations of the foregoing, whereby differentportions of the instructions and data are stored on different types ofmedia.

The instructions 334 may be any set of instructions to be executeddirectly (such as machine code) or indirectly (such as scripts) by theprocessor. For example, the instructions may be stored as computingdevice code on the computing device-readable medium. In that regard, theterms “instructions” and “programs” may be used interchangeably herein.The instructions may be stored in object code format for directprocessing by the processor, or in any other computing device languageincluding scripts or collections of independent source code modules thatare interpreted on demand or compiled in advance. Functions, methods androutines of the instructions are explained in more detail below.

The data 332 may be retrieved, stored or modified by processor 320 inaccordance with the instructions 334. For instance, although the claimedsubject matter is not limited by any particular data structure, the datamay be stored in computing device registers, in a relational database asa table having a plurality of different fields and records, XMLdocuments or flat files. The data may also be formatted in any computingdevice-readable format.

The one or more processors 320 may be any conventional processors, suchas commercially available CPUs. Alternatively, the one or moreprocessors may be a dedicated device such as an ASIC or otherhardware-based processor. Although FIG. 11 functionally illustrates theprocessor, memory, and other elements of computing device 110 as beingwithin the same block, it will be understood by those of ordinary skillin the art that the processor, computing device, or memory may actuallyinclude multiple processors, computing devices, or memories that may ormay not be stored within the same physical housing. For example, memorymay be a hard drive or other storage media located in a housingdifferent from that of computing device 310. Accordingly, references toa processor or computing device will be understood to include referencesto a collection of processors or computing devices or memories that mayor may not operate in parallel.

In one example, computing device 310 may be a control systemincorporated into vehicle assembly 200. The control system may becapable of communicating with various components of the vehicle. Forexample, computing device 210 may be in communication with varioussystems of vehicle assembly 200, such as wiper system 336 that controlsmovement of a passive wiper system on the vehicle assembly 200, fluiddispensing system 338, and object detection system 340.

Control system 310 may receive signals from other systems in the vehicleassembly indicating that the wiper system 336 should be deployed. Insuch example, control system 310 may activate the drive motor and causethe drive motor to begin rotating so that the wiper blades assemblies110A,110B also begin to rotate around dome 102. Control system 310 mayalso receive signals indicating the position of wiper blades of thewiper system and provide signals to other systems, such as fluiddispensing system to dispense fluid through spray nozzles positionedaround the dome. Again, although the wiper system 336 is shown as partof computing device 310, in actuality, wiper system 336 may be aseparate system in communication with control system 310.

Control system 310 can deploy the wiper blades of wiper system 336 whenoptical deterrents are present on the dome. For example, when rain,debris or the like are on the dome surface of the vehicle assembly andocclude the cameras or lasers positioned within the dome, control system310 may receive a message or signal that the dome is occluded. Themessage may be transmitted from another system within the vehicleassembly that detects the presence of optical deterrents on the dome,such as an object detection system 340. The object detection system caninclude its own memory, data, instructions, and processors. In oneexample, object detection system 340 may include cameras (not shown)inside the dome. These cameras may be the same cameras that are used togather information to maneuver the vehicle assembly or cameras dedicatedto determining whether occlusions are present on the dome. Theprocessors of the object detection system can conduct complex postprocessing using digital filters and logic on the received images toevaluate the quality of the received image and determine if occlusionsare present on the dome.

With reference back to FIG. 4, when control system 310 receives amessage from the object detection system 340 that the dome surface isoccluded, control system 310 can activate drive motor 196 and causewiper blade assemblies 110A,110B to deploy. For example, control system310 can activate drive motor 196 and cause drive motor 196 to rotate inthe first direction so that the ring gear, top plate 128, and wiperblade assemblies 110A,110B also rotate in a first direction, such as thecounterclockwise direction. Rotation of wiper blade assemblies 110A,110Bin the first direction can deploy wiper blade assemblies 110A,110B sothat first and second that wiper blades 112A,112B are moved into anupright position as previously discussed herein.

Conversely, when the control system 310 receives a message from theobject detection system 340 that the optical deterrents are sufficientlycleared from the dome surface or no longer present on the dome surface,control system 200 can deactivate drive motor 196 and cause drive motor196 to rotate in the opposite direction, so that ring gear 192, topplate 128, and wiper blade assemblies 110A,110B rotate in the oppositedirection, such as clockwise, to stow first and second wiper blades112A,112B. Drive motor 196 can stop rotating when first and second wiperblades 112A,112B are stowed.

The position of at least one of the first and second wiper blades112A,112B can be determined by the control system. For example, once thewiper blades assemblies 110A,110B are deployed, one or more positionsensors within the control system can be used to determine the presenceand position of one or more of the wiper blade.

For instance, referring to both FIGS. 4 and 8, a position sensor 302 maybe a hall sensor that is fixed relative to the ring gear and top plate128. In this example, position sensor 302 is fixed to base plate 141 andis positioned between axle 144A of drive motor 196 and ring gear 192.Position sensor 302 can detect the magnetic fields of one or moremagnets positioned on a portion of the rotating assembly 138 that movesabout dome 102.

Magnet 304 may be positioned adjacent one or more of the wiper bladeassemblies 110A,110B that rotate about the dome. Magnet 304 may bepositioned, for example, adjacent base mount 114 of first wiper bladeassembly 110A. In this regard, each time magnet 304 passes in front ofposition sensor 302, position sensor 302 detects the presence of magnet304.

Position sensor 302 may communicate with control system 310 to indicatedetection of one or more wiper blades. For example, each time magnet 304passes in front of position sensor 302, position sensor 302 can send asignal to control system 310 indicating that magnet 304 has beendetected. In this example, because magnet 304 is adjacent base mount 114of wiper blade assembly 110A, detection of magnet 304 also indicatesdetection of first wiper blade 112A. Furthermore, detection of magnet304 may also indicate to the control system 310 that wiper blade 112Ahas made a complete revolution about dome 102.

Control system 310 can calculate the position of the first and/or secondwiper blades 112A,112B each time control system 210 receives a signalfrom position sensor 302 by accessing information about the position ofposition sensor 202 relative to the dome. For example, because theposition of the position sensor 302 is fixed, control system 310 canreadily determine the position of the first and second wiper blades 112.In one example where magnet 302 is positioned adjacent base mount 114 offirst wiper blade 112A, when first wiper blade assembly 110A ispositioned directly in front of position sensor 302 or at 0°, the secondwiper blade 112B will be positioned 180° away from the first wiperblade.

Control system 310 may also calculate the position of the first and/orsecond wiper blades 112A,112B, as first wiper blade 112A makes acomplete revolution and returns back to position sensor 302. Forexample, control system 310 can access information about the speed ofthe rotating assembly. Based upon the determined speed, control system310 can determine how far first and second wiper blades 112A,112B willadvance within a given time period. For example, first wiper blade 112Amay make one revolution every nine seconds. In this example, the firstwiper blade 112A would travel 120° every three seconds, and that firstwiper blade 112A travels 40° every second. In other examples, firstwiper blade 112A may make one revolution at a time greater than or lessthan nine seconds. For example, wiper blade 112A may make one completerevolution every second. The system can easily calculate the position ofthe first wiper blade 112A at any given point during a revolution basedupon a given speed. Control system 310 may also control speed and makeadjustments for speed.

The position of second wiper blade 112B can be similarly determined. Forexample, the position of wiper blade 112B is fixed 180° away from firstwiper blade 112A. Once the position of first wiper blade 112A isdetermined, control system 310 can calculate the position of secondwiper blade 112B by adding 180° to the current position of first wiperblade 112A. In other examples, a second position sensor can be providedadjacent base mount 114 of second wiper 112B. Based on the signal of thesecond position sensor, control system 302 can calculate the position ofsecond wiper blade 112B in the same way the position of first wiperblade 112A is calculated.

To provide for even greater accuracy of the position of wiper blades 112or as an alternative way to determine the position of first and secondwiper blades 112A,112B, one or more position sensors may be positionedwithin drive motor 196. For example, there may be three hall sensors(not shown) positioned within drive motor 196 to detect the position ofdrive motor 196 at any given time. The hall sensors can transmitinformation to control system 210 indicating detection of the magnets inthe drive motion 196 and the position of the gears within motor 196 at agiven time.

When the position of drive motor 196 is obtained from the hall sensors,a more accurate calculation of the position of wiper blades 112 can bemade. For example, as discussed above, control system 310 can predictthe expected position of first wiper blade 112A at points duringrevolution about the dome. However, the speed of rotating assembly maychange during a revolution or may fluctuate, which would affect thepredicted position of wiper blades 112A,112B. Knowledge of the exactposition of drive motor 196 can provide additional information tocontrol system 310 that will allow for a more accurate determination ofthe position of either or both first and second wiper blades 112A,112Bat any point in time.

Control system 310 may also access information about the position ofspray nozzles 108A,108B,108C. Referring again to FIG. 4, as discussed inthe example above, three spray nozzles 108A, 108B, and 108C may beequally spaced apart by 120° relative to the dome. In such example,where 0° is at the fixed position of position sensor 302, the positionof each of the spray nozzles 108A, 108B, and 108C relative to positionsensor 302 is known. For example, as shown, the first spray nozzle 108Amay be positioned at 60°; the second spray nozzle 108B can be positionedat 180° away from position sensor 302 in a clockwise direction (or 120°away from the first nozzle 108A); and, third spray nozzle 108C may bepositioned at approximately 300° away from position sensor 202 in aclockwise direction. With access to these positions, control system 310can accurately dispense fluids based upon a determined position of thefirst wiper blade 112A and/or second wiper blade 112B.

Control system 310 can access information identifying an optimumposition of the wiper blades relative to the spray nozzles110A,110B,110C for activating the fluid dispensing system 174. Forexample, the optimum position may be one where the wiper fluid isdispensed just before wiper blade 112A passes in front of each spraynozzle 110A,110B,110C. This would allow the dome surface 106 to besprayed with fluid, but immediately cleared by first wiper blade 112A toprevent excess fluid runoff. In one example, it may be pre-determinedthat the fluids should be triggered when first wiper blade 112A is at afixed distance away from each spray nozzle, such as 5°-10° away fromeach spray nozzle 110A,110B,110C as first wiper blade 112A move 360°relative to the dome. The optimum position of second wiper blade 112Bcan be similar to the optimum position of first wiper blade 112A,although it may instead differ.

Control system 310 can calculate when one or more wiper blades will beat the optimum position. As previously discussed, control system 310 maybe capable of determining the exact position of first wiper blade 112A,as well as the second wiper blade 112B each time magnet 302 makes acomplete revolution. In the example where it is determined that thespray nozzles should spray fluid when the first wiper blade 112 ispositioned 10° away from the respective first, second and third spraynozzles 110A,110B,110C, control system 310 can determine when firstwiper blade 112A will be positioned at 50°, 110° and 290°, with 0° beingat the position of the position sensor 302. As discussed above, in oneexample, control system 310 can make the determination based upon thespeed and expected position of wiper blade 310.

Control system 310 may send a signal to fluid dispensing system 310 topump fluid into fluid lines 180 such that each of the nozzles110A,110B,110C will spray wiper fluid when first wiper blade 112A is atthe optimum position. For example, at the time the wiper blade is at theoptimum positions of 50°, 110° and 290°, fluid dispensing system 174will dispense fluid through the respective spray nozzles. Thus, thespray nozzles 110A,110B,110C can be sequentially triggered by thecontrol system as first wiper blade 112A rotates about the dome. Fluiddispensing system 174 can also be activated each time the second wiperblade 112B is at the optimum position.

FIG. 12 is an example flow diagram 400 in accordance with some of theaspects described above that may be performed by one or more computingdevices such as control system 310. In this example, control system 310receives a signal at block 410. The signal indicates that opticaldeterrents are present on the surface of a vehicle assembly, such as thedome. At block 420, control system 310 may activate the drive motor andcause the drive motor to begin rotating in a first direction. Movementof the drive motor also causes the rotating assembly, which is coupledto the drive motor, and any wiper blade assemblies, which are coupled tothe rotating assembly, to rotate in a first direction. Movement ofrotating assembly will cause one or more wiper blade assemblies to alsorotate in a first direction, so as to deploy the wiper blades into anupright position. When it is desired to stow the wiper blades, at block430, control system 310 will deactivate the drive motor and cause thedrive motor to rotate in a second direction that is opposite the firstdirection, thereby causing the rotating assembly and wiper bladeassemblies to also rotate in a second direction that is opposite thefirst direction. This will also cause the wiper blades to be moved intothe stowed position.

FIG. 13 is an example flow diagram 500 in accordance with some of theaspects described above that may be performed by one or more computingdevices such as control system 310. At block 510, control system 310receives a signal from the position sensor. The signal indicates thedetection of a wiper blade at a first position relative to the dome andposition sensor. Information about the speed of rotating assembly isaccessed by control system 310 at block 520. Using the information aboutthe speed of rotating assembly, at block 530, control system 310 candetermine a second position of the wiper blades as the wiper blades makea 360 degree revolution around the dome.

FIG. 14 is an example flow diagram 600 in accordance with some of theaspects described above that may be performed by one or more computingdevices such as control system 310. At block 610, control system 310receives a signal from the position sensor. The signal indicates thedetection of a wiper blade at a first position relative to the dome andposition sensor. Control system 310 accesses information about the speedof rotating assembly at block 620. Information about the position ofspray nozzles is accessed by control system 310 at block 630 andinformation about the optimum position of a wiper blade relative to aspray nozzle is accessed by control system 310 at block 640. Forexample, there may be three spray nozzles equally spaced around thedome. Control system 310 can also access information regarding how faraway the wiper blade should be from each spray nozzle before the wiperfluid sprays fluid. Control system 310 can then determine when the wiperblade is at an optimum position relative to the spray nozzle and dome.For example, the optimum position may be one where the wiper blade ispositioned 5-10 degrees away from the spray nozzle. At block 650,control system 310 will determine when the wiper blade is at the optimumposition. Control system 310 can either predict that the wiper bladewill be at an optimum position at a given time period based upon thespeed. Alternatively, control system 310 can determine an exact locationbased upon various sensors in the system. Once control system 310 hasdetermined that the wiper blade is at the optimum position, controlsystem can activate the fluid dispensing system at block 660 and causewiper fluid to be dispensed through the spray nozzle.

Unless otherwise stated, the foregoing alternative examples are notmutually exclusive, but may be implemented in various combinations toachieve unique advantages. As these and other variations andcombinations of the features discussed above can be utilized withoutdeparting from the subject matter defined by the claims, the foregoingdescription of the embodiments should be taken by way of illustrationrather than by way of limitation of the subject matter defined by theclaims. In addition, the provision of the examples described herein, aswell as clauses phrased as “such as,” “including” and the like, shouldnot be interpreted as limiting the subject matter of the claims to thespecific examples; rather, the examples are intended to illustrate onlyone of many possible embodiments. Further, the same reference numbers indifferent drawings can identify the same or similar elements.

1. A system for controlling movement of a wiper blade assembly, thesystem comprising: a wiper blade assembly including at least one wiperblade; one or more processors configured to: receive a signal indicatingthat optical deterrents are present on a surface of a dome; in responseto receiving the signal, cause the wiper blade assembly to move in afirst direction around the dome by rotating a ring in a first directionaround the dome and thereby moving the wiper blade from a stowedcondition to a deployed condition, wherein the ring extends around thedome; and cause the wiper blade assembly to move in a second directionaround the dome by rotating the ring in the second direction and therebymoving the wiper blade from the deployed condition to the stowedcondition, and wherein the second direction is opposite of the firstdirection.
 2. The system of claim 1, further comprising the dome.
 3. Thesystem of claim 2, further comprising a vehicle, wherein the dome ismounted on the vehicle.
 4. The system of claim 1, wherein the firstdirection is a clockwise direction and the second direction is acounterclockwise direction.
 5. The system of claim 1, wherein the one ormore processors are further configured to control a speed that the wiperblade assembly rotates around the dome.
 6. The system of claim 1,wherein the at least one wiper blade is mounted to the ring.
 7. Thesystem of claim 1, wherein the signal is a first signal, the one or moreprocessors are further configured to: receive a second signal indicatingthat optical deterrents are cleared from the dome; and wherein the oneor more processors are further configured to cause the wiper bladeassembly to move in the second direction in response to receiving thesecond signal.
 8. The system of claim 1, further comprising a drivemotor configured to cause the ring to rotate.
 9. The system of claim 1,further comprising a spray nozzle, and wherein the one or moreprocessors are further configured to: receive a signal from a positionsensor indicating detection of the wiper blade at a first positionrelative to the dome; and based on the first position, cause fluid to bedispensed through a spray nozzle when the wiper blade is at apre-determined position.
 10. The system of claim 9, wherein the one ormore processors are further configured to: access information about aspeed of the wiper blade as the wiper blade rotates around the dome;determine a second position of the wiper blade relative to the domebased upon the speed; and cause the fluid to be dispensed further basedon the determined second position.
 11. The system of claim 1, whereinthe at least one wiper blade is configured to rotate 360 degrees aroundthe dome.
 12. The system of claim 1, wherein the wiper blade assemblyfurther includes a pivoting connector having a post portion and the ringincludes a ramp, and the post portion is configured and the post portionis configured to interact with the ramp to move the wiper blade from thedeployed condition to the stowed condition.
 13. The system of claim 12,wherein the post portion is configured to interact with the ramp to movethe wiper blade from the stowed condition to the deployed condition. 14.The system of claim 12, wherein the post portion is configured to movealong a top surface of the ramp when ring rotates in the firstdirection.
 15. The system of claim 12, wherein the post portion isconfigured to move along a bottom surface of the ramp when the ringrotates in the second direction.
 16. The system of claim 12, wherein theramp is configured to pivot in order to move the wiper blade from thedeployed condition to the stowed condition.
 17. The system of claim 12,wherein the ramp is configured to pivot in order to move the wiper bladefrom the stowed condition to the deployed condition.
 18. The system ofclaim 12, further comprising a second ring fixed relative to the dome,the ring being rotatable relative to the second ring, and wherein theramp is arranged on the second ring.
 19. The system of claim 1, furthercomprising a top plate, and wherein the wiper blade assembly is coupledto ring via a mount.
 20. The system of claim 1, wherein the wiper bladeassembly includes at least two wiper blades.